version: 66.03
glider: 119
mission: 5
dive: 173
start: 10 31 108 15 28 41
data:
$ID,119
$MISSION,5
$DIVE,173
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-213061.55
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,152148,4724.879,-12651.503,35,1.2,46,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.2
$GPS2,152749,4724.937,-12651.414,15,1.2,26,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.140,-0.135
$KALMAN_X,-16459.0,425.9,52.5,-127313.3,-1747.7
$KALMAN_Y,163306.3,65.1,-442.0,-114025.7,1239.5
$MHEAD_RNG_PITCHd_Wd,207.4,98170,-11.5,-5.500
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.80,0.000,2,0.000,0.000,861,2165,2761
$GC,87,-0.67,-117.3,3.1,-4.7,6,120,12.23,2.35,-12.98,0.000,4,0.145,0.077,2649,775,3318
$GC,228,-0.44,-117.3,25.7,-11.9,18,235,0.32,2.25,0.00,0.000,6,0.081,0.041,2702,2208,3318
$GC,561,-0.50,-117.3,49.4,-5.7,63,567,0.00,2.33,0.00,0.000,4,0.000,0.058,2703,788,3318
$GC,591,-0.58,-117.3,51.0,-5.3,68,598,0.17,2.20,0.00,0.000,6,0.051,0.041,2664,2206,3318
$GC,936,-0.72,-117.3,78.9,-7.1,129,942,0.00,2.30,0.00,0.000,4,0.000,0.064,2663,3606,3318
$GC,1027,-0.68,-117.3,85.7,-8.1,139,1032,0.00,2.78,0.00,0.000,6,0.000,0.041,2663,1846,3318
$GC,1355,-0.77,-117.3,107.5,-6.5,169,1362,0.17,0.00,0.00,0.000,6,0.051,0.000,2623,1846,3318
$GC,1681,-0.77,-117.3,133.6,-8.1,200,1685,0.00,1.70,0.00,0.000,4,0.000,0.066,2623,793,3318
$GC,1761,-0.65,-117.3,140.1,-8.0,207,1766,0.20,2.50,0.00,0.000,6,0.078,0.046,2657,2383,3318
$GC,2092,-0.65,-117.3,159.9,-6.1,230,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2383,3319
$GC,2400,-0.65,-117.3,178.8,-5.9,245,2405,0.00,2.62,0.00,0.000,4,0.000,0.061,2658,793,3318
$GC,2490,-0.71,-117.3,184.1,-5.9,249,2494,0.00,2.42,0.00,0.000,6,0.000,0.046,2658,2341,3318
$GC,2810,-0.71,-117.3,203.2,-6.5,265,2815,0.00,2.53,0.00,0.000,4,0.000,0.063,2658,788,3318
$GC,2843,-0.76,-117.3,205.4,-6.6,266,2850,0.12,2.38,0.00,0.000,6,0.061,0.045,2629,2313,3318
$GC,3159,-0.67,-117.3,228.5,-6.8,282,3164,0.12,2.47,0.00,0.000,4,0.090,0.064,2651,802,3318
$GC,3208,-0.67,-117.3,231.5,-5.8,284,3212,0.00,2.30,0.00,0.000,6,0.000,0.044,2651,2273,3318
$GC,3530,-0.67,-117.3,249.6,-5.8,300,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2273,3318
$GC,3839,-0.67,-117.3,266.1,-5.2,315,3843,0.00,2.42,0.00,0.000,4,0.000,0.067,2651,794,3318
$GC,3879,-0.67,-117.3,268.2,-5.6,317,3883,0.00,2.30,0.00,0.000,6,0.000,0.046,2651,2260,3318
$GC,4205,-0.67,-117.3,286.1,-5.7,333,4209,0.00,2.40,0.00,0.000,4,0.000,0.067,2651,802,3318
$GC,4237,-0.67,-117.3,288.1,-6.0,334,4244,0.00,2.28,0.00,0.000,6,0.000,0.045,2651,2232,3318
$GC,4591,-0.67,-117.3,307.5,-5.7,348,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2233,3318
$GC,4895,-0.67,-117.3,325.5,-5.9,353,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2233,3317
$GC,5198,-0.67,-117.3,342.3,-5.5,358,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2232,3317
$GC,5501,-0.67,-117.3,357.7,-5.1,363,5505,0.00,2.38,0.00,0.000,4,0.000,0.070,2651,802,3317
$GC,5533,-0.67,-117.3,359.5,-5.4,363,5537,0.00,2.22,0.00,0.000,6,0.000,0.048,2650,2218,3317
$GC,5860,-0.67,-117.3,376.2,-5.2,369,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2218,3316
$GC,6162,-0.67,-117.3,392.8,-5.4,374,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2218,3316
$GC,6465,-0.67,-117.3,409.1,-5.4,379,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2218,3315
$GC,6769,-0.67,-117.3,426.5,-5.7,384,6773,0.00,2.38,0.00,0.000,4,0.000,0.075,2651,805,3315
$GC,6795,-0.67,-117.3,428.1,-6.1,384,6800,0.00,2.28,0.00,0.000,6,0.000,0.051,2650,2216,3315
$GC,7133,-0.67,-117.3,448.3,-6.0,390,7137,0.00,2.40,0.00,0.000,4,0.000,0.077,2651,794,3315
$GC,7159,-0.72,-117.3,449.7,-5.7,390,7163,0.00,2.22,0.00,0.000,6,0.000,0.051,2651,2194,3314
$GC,7497,-0.76,-117.3,466.8,-4.9,396,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3314
$GC,7800,-0.80,-117.3,480.6,-4.5,401,7805,0.15,2.38,0.00,0.000,4,0.060,0.077,2614,799,3313
$GC,7821,-0.80,-117.3,481.6,-4.8,401,7825,0.00,2.22,0.00,0.000,6,0.000,0.053,2614,2196,3313
$GC,8165,-0.68,-117.3,502.1,-6.0,407,8167,0.20,0.00,0.00,0.000,6,0.083,0.000,2649,2197,3313
$GC,8467,-0.68,-117.3,516.7,-4.8,412,8471,0.00,2.38,0.00,0.000,4,0.000,0.081,2649,800,3312
$GC,8489,-0.74,-117.3,517.8,-4.8,412,8494,0.00,2.22,0.00,0.000,6,0.000,0.054,2649,2190,3312
$GC,8827,-0.74,-117.3,534.5,-5.0,418,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2191,3313
$GC,9131,-0.78,-117.3,550.1,-5.1,423,9135,0.00,2.38,0.00,0.000,4,0.000,0.081,2649,797,3312
$GC,9169,-0.84,-117.3,552.4,-5.4,423,9174,0.17,2.22,0.00,0.000,6,0.055,0.056,2612,2185,3312
$GC,9490,-0.73,-117.3,574.3,-7.0,429,9491,0.15,0.00,0.00,0.000,6,0.087,0.000,2638,2185,3312
$GC,9792,-0.73,-117.3,591.9,-5.8,434,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2185,3312
$GC,10095,-0.73,-117.3,608.8,-5.6,439,10099,0.00,2.38,0.00,0.000,4,0.000,0.083,2638,799,3312
$GC,10117,-0.73,-117.3,610.1,-5.8,439,10121,0.00,2.22,0.00,0.000,6,0.000,0.056,2638,2178,3312
$GC,10455,-0.73,-117.3,627.4,-5.1,445,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3311
$GC,10756,-0.73,-117.3,642.6,-5.0,450,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3311
$GC,11061,-0.73,-117.3,656.8,-4.6,455,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3310
$GC,11363,-0.73,-117.3,670.3,-4.5,460,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3310
$GC,11666,-0.73,-117.3,684.1,-4.6,465,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3309
$GC,11969,-0.73,-117.3,698.8,-4.9,470,11970,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3309
$GC,12272,-0.73,-117.3,713.5,-4.9,475,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3309
$GC,12577,-0.73,-117.3,728.9,-5.2,480,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3309
$GC,12879,-0.85,-117.3,745.7,-5.6,485,12884,0.12,2.50,0.00,0.000,4,0.064,0.092,2609,3596,3309
$GC,12984,-0.72,-117.3,752.1,-5.6,486,12990,0.17,2.83,0.00,0.000,6,0.087,0.056,2638,1861,3309
$GC,13305,-0.72,-117.3,766.0,-4.2,492,13310,0.00,3.03,0.00,0.000,4,0.000,0.082,2638,3601,3309
$GC,13371,-0.72,-117.3,769.3,-5.3,493,13375,0.00,2.70,0.00,0.000,6,0.000,0.056,2638,1941,3309
$GC,13736,-0.72,-117.3,785.7,-4.6,499,13740,0.00,2.88,0.00,0.000,4,0.000,0.083,2638,3599,3309
$GC,13802,-0.72,-117.3,789.2,-5.3,500,13806,0.00,2.60,0.00,0.000,6,0.000,0.058,2638,2004,3308
$GC,14163,-0.72,-117.3,805.4,-4.5,506,14167,0.00,2.78,0.00,0.000,4,0.000,0.084,2638,3598,3308
$GC,14201,-0.72,-117.3,807.2,-5.0,506,14205,0.00,2.53,0.00,0.000,6,0.000,0.058,2638,2058,3308
$GC,14521,-0.72,-117.3,822.0,-4.7,512,14526,0.00,2.67,0.00,0.000,4,0.000,0.085,2638,3599,3308
$GC,14547,-0.72,-117.3,823.5,-5.8,512,14552,0.00,2.47,0.00,0.000,6,0.000,0.059,2638,2087,3308
$GC,14885,-0.72,-117.3,839.1,-4.6,518,14886,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2087,3308
$GC,15189,-0.72,-117.3,853.2,-4.7,523,15193,0.00,2.65,0.00,0.000,4,0.000,0.088,2638,3599,3308
$GC,15215,-0.72,-117.3,854.5,-5.6,523,15219,0.00,2.45,0.00,0.000,6,0.000,0.060,2638,2110,3306
$GC,15553,-0.72,-117.3,870.1,-4.6,529,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2110,3307
$GC,15856,-0.72,-117.3,883.6,-4.5,534,15860,0.00,2.62,0.00,0.000,4,0.000,0.090,2638,3595,3307
$GC,15883,-0.72,-117.3,884.9,-5.2,534,15887,0.00,2.42,0.00,0.000,6,0.000,0.060,2638,2125,3306
$GC,16215,-0.72,-117.3,900.0,-4.6,540,16216,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2125,3306
$GC,16517,-0.72,-117.3,913.8,-4.6,545,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2126,3306
$GC,16821,-0.72,-117.3,927.8,-4.7,550,16825,0.00,2.62,0.00,0.000,4,0.000,0.094,2638,3595,3305
$GC,16847,-0.72,-117.3,929.3,-5.4,550,16851,0.00,2.42,0.00,0.000,6,0.000,0.064,2638,2142,3306
$GC,17185,-0.76,-117.3,945.0,-4.6,556,17189,0.00,2.45,0.00,0.000,4,0.000,0.112,2638,807,3306
$GC,17214,-0.82,-117.3,946.4,-5.2,556,17218,0.00,2.20,0.00,0.000,6,0.000,0.070,2638,2129,3306
$GC,17546,-0.86,-117.3,960.2,-4.1,562,17551,0.15,2.60,0.00,0.000,4,0.061,0.094,2603,3597,3306
$GC,17575,-0.76,-117.3,961.9,-5.0,562,17580,0.17,2.40,0.00,0.000,6,0.089,0.067,2631,2158,3305
$GC,17907,-0.76,-117.3,977.2,-4.6,568,17908,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2158,3305
$STATE,18207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18207,begin apogee
$GC,18212,-0.23,0.0,992.1,5.0,573,18318,0.68,0.00,102.55,1.496,6,0.074,0.000,2747,2200,2837
$STATE,18318,end apogee,CONTROL_FINISHED_OK
$STATE,18319,begin climb
$GC,18321,0.67,117.3,993.7,0.0,574,18440,1.15,2.75,111.95,1.447,4,0.043,0.094,2945,3602,2358
$GC,18456,0.36,117.3,990.9,7.2,577,18462,0.45,2.58,0.00,0.000,6,0.094,0.071,2880,2207,2357
$GC,18810,0.37,127.1,972.4,5.2,583,18826,0.00,2.60,10.73,1.304,4,0.000,0.117,2880,788,2317
$GC,18865,0.32,127.1,969.4,5.6,583,18871,0.00,2.38,0.00,0.000,6,0.000,0.074,2880,2182,2317
$GC,19174,0.33,134.7,953.0,5.3,589,19184,0.00,0.00,8.60,1.265,6,0.000,0.000,2880,2182,2287
$GC,19477,0.33,134.7,936.0,5.6,594,19481,0.00,2.53,0.00,0.000,4,0.000,0.111,2880,787,2287
$GC,19515,0.33,135.3,933.6,5.5,594,19519,0.00,2.30,0.00,0.000,6,0.000,0.070,2880,2171,2287
$GC,19841,0.33,135.3,915.3,5.6,600,19842,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2171,2287
$GC,20144,0.34,142.0,899.1,5.3,605,20154,0.00,0.00,8.30,1.261,6,0.000,0.000,2880,2171,2258
$GC,20447,0.34,142.0,882.2,5.6,610,20451,0.00,2.47,0.00,0.000,4,0.000,0.107,2880,780,2258
$GC,20484,0.34,142.0,879.8,6.1,610,20488,0.00,2.28,0.00,0.000,6,0.000,0.067,2880,2140,2258
$GC,20811,0.34,142.0,861.4,5.8,616,20812,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2140,2258
$GC,21113,0.34,142.0,843.0,6.2,621,21117,0.00,2.40,0.00,0.000,4,0.000,0.103,2880,787,2258
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$STATE,34167,begin surface coast
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$STATE,34190,end surface coast,CONTROL_FINISHED_OK
$STATE,34190,begin surface
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